Quadcopter motion planning stack

In this project a RRT* path planning and minimum snap trajectory generation (motion planning) stack is implemented for the 3D navigation of a DJI Tello Edu quadcopter in simulation (in blender) and is then tested on real quadcopter via NVIDIA Jetson Orin Nano. Additionally a cascaded PID controller gains for position and velocity control are tuned to follow the generated trajectory. (Check the full problem statements here project2a and project2b)

Steps to run the code

• This code is tested on Ubuntu 20.04 system
• Install Numpy, Scipy, Matplotlib, blender python, pyquaternion, djitellopy libraries before running the code.
• To run the simulation:
  • open the main.blend file in blender
  • Go to compositing and set appropriate path to outputs folder
  • Go to scripting tab and load the main.py file
  • In main.py choose a map from the given set of four sample maps and uncomment the code accordingly to set start and goal locations for each map.
  • Run the script in blender.
  • Once the script is run press spacebar to run the simulation in layout tab.
• To run on real quadcopter
  • Set up the tello drone and orin nano
  • On orin nano clone this repository
  • Copy the trajectory csv file generated in the previous simulation from sample_traj folder to src folder
  • Open the tello_run.py file and set the appropriate trajectory file name.
  • Connect to the network of the tello drone and run in src folder the following command:

    python3 tello_run.py
    

Report

For detailed description see the report here.

Plots and Animations

On sample maps in blender:

Sample map 1:

Watch the full simulation for sample map 1 here.

Sample map 3:

Watch the full simulation for sample map 3 here.

Real map 1:

Watch the full blender simulation for Real map 1 here and a test run on the real tello drone here (link1 and link2).

Testing on the real quadcopter:

References

1. Richter, Charles, Adam Bry, and Nicholas Roy. "Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments." Robotics Research: The 16th International Symposium ISRR. Springer International Publishing, 2016.

Collaborators

Chaitanya Sriram Gaddipati - [email protected]

Shiva Surya Lolla - [email protected]

Ankit Talele - [email protected]